Drainage basin power station runner inner wall repairing device and using method thereof

Abstract

The invention provides a watershed power station runner inner wall repairing device and a using method thereof, and relates to the technical field of hydropower station maintaining.The watershed power station runner inner wall repairing device comprises a repairing assembly, the repairing assembly comprises a magnetic attraction base which can be connected with or disengaged from the runner inner wall in a magnetic attraction mode, and a robot assembly is installed in the middle of the magnetic attraction base; the output end of the robot assembly is in butt joint with a machining assembly in a matched mode, a visual assembly is arranged at the output end of the robot assembly or on the machining assembly, and the visual assembly is used for conducting real-time image collection on the inner wall of the rotating wheel in the process that the robot assembly drives the machining assembly to move. Rapid adsorption / separation is achieved by rotating the locking piece, the installation problem caused by the fact that the size of a runner inlet is limited is solved, high-intensity manual labor is replaced with robot automatic operation, a larger operation area can be covered through single-time positioning, a defect area is accurately positioned through visual guidance, and invalid operation is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of hydropower station maintenance, and in particular to a device for repairing the inner wall of a runner in a basin power station and a method for using the device. Background Art

[0002] As the core power component of a river basin power station, the inner wall surface of a turbine runner is subjected to long-term cavitation, sediment erosion, and multiphase flow corrosion, resulting in material loss and surface morphology degradation, which directly affects the operating efficiency and service life of the unit. Depending on the corrosion condition of the runner, rust removal, grinding, welding and other operations are required on the inner wall of the runner.

[0003] Because the inner wall of the runner is a repair part with a large diameter, the traditional maintenance and repair method requires the use of fixed guide rails, which is costly and has restricted access to the door, making installation and transportation extremely difficult. When performing maintenance operations on it, the workload is large, and 8 people need to work continuously for about 1 month at the same time. The runner rack is a high-altitude and high-risk operation, which leads to greater work risks. Summary of the Invention

[0004] The purpose of the present invention is to provide a device for repairing the inner wall of a runner of a watershed power station and a method for using the same, so as to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above-mentioned technical features, the purpose of the present invention is achieved as follows: A device for repairing the inner wall of a runner of a river basin power station, comprising a repair component, the repair component comprising a magnetic base that can be magnetically connected to or detached from the inner wall of the runner, a robot component is installed in the middle of the magnetic base, the output end of the robot component is docked with a processing component, a visual component is provided on the output end of the robot component or the processing component, the visual component is used to perform real-time image acquisition of the inner wall of the runner during the process of the robot component driving the processing component to move, the visual component is electrically connected to a robot control cabinet, and the robot control cabinet is electrically connected to the robot component; the robot control cabinet is configured to receive and process the image signal acquired by the visual component, and control the robot component to perform corresponding actions according to the processing results, so as to drive the processing component to perform repair operations on the inner wall of the runner.

[0006] Preferably, the magnetic base includes a base, a mounting position for installing the robot component is provided in the middle of the base, a plurality of lugs are provided on the outer side of the base, a magnetic part is provided on the lug, and the magnetic part is configured to selectively form a magnetic connection or disconnection with the inner wall of the rotating wheel, and a group of handles are provided in the middle of the base.

[0007] Preferably, the number of lugs is 2N, and N≥3; the number of magnetic elements is 3X, and X is 1 or 2; and the magnetic elements are arranged in a circular array with equal spacing.

[0008] Preferably, the magnetic attraction member includes a magnet fixed to the end of the lug and a rotary locking member rotatably arranged above the magnet; the rotary locking member is configured to drive the magnet to move relative to the end of the lug through mechanical linkage during rotation, so as to increase or decrease the effective magnetic attraction force between the magnet and the inner wall of the wheel, thereby achieving magnetic locking or disengagement.

[0009] Preferably, the processing component includes a connecting end, which is used to cooperate and dock with the output end of the robot component; the connecting end is connected to a force compensation module; the force compensation module is electrically connected to a force compensation control system; one end of the force compensation module is connected to a driving member, and the output end of the driving member is connected to a grinding disc.

[0010] Preferably, the force-position compensation module includes a cylinder and a pressure sensor; the cylinder body of the cylinder is fixed on the connecting end or the force-position compensation module frame, and the piston rod of the cylinder is connected to the driving member through the pressure sensor; the pressure sensor is electrically connected to the force-position compensation control system for detecting the contact pressure between the grinding disc and the inner wall of the wheel.

[0011] Preferably, the visual component includes an image acquisition unit, which is configured to capture images of the inner wall surface of the rotating wheel; the robot control cabinet is configured to process the image signals captured by the image acquisition unit, identify defects or features of the inner wall of the rotating wheel, and generate control instructions based on the identification results to control the robot component and the processing component to perform corresponding repair operations.

[0012] Preferably, the processing assembly is a welding gun assembly that cooperates with the output end of the robot assembly and is used to perform welding repairs on the defective area of the inner wall of the runner.

[0013] Preferably, the processing component is a laser rust removal component that cooperates with the output end of the robot component and is used to remove rust or coating on the inner wall surface of the wheel.

[0014] Another aspect of the present invention provides a method for using a device for repairing the inner wall of a runner of a watershed power station. The method uses the device and the steps are as follows: S1. Install the robot assembly on the mounting position of the base; S2. Fix the installed repair device to the inner wall of the rotating wheel by means of magnets and lock it by rotating the locking piece; S3. Select grinding, rust removal or welding processing components according to the repair work to be performed, and perform repair operations on the inner wall of the runner; S4. After the current area is repaired, the rotary locking piece is rotated to release the magnetic attraction, and the robot assembly and the base are moved and re-fixed, and the repair operation is performed on the new installation area.

[0015] The present invention has the following beneficial effects: 1. This invention uses a magnetic base to replace the traditional guide rail, and achieves rapid attachment / detachment by rotating the locking piece, solving the installation problem caused by the limited size of the runner entrance. By using robotic automation to replace high-intensity manual labor, a single positioning can cover a larger working area, and visual guidance is used to accurately locate defective areas, avoiding ineffective work. 2. When the present invention is in use, the operator does not need to enter the rotor for high-altitude operations. Only external monitoring and moving devices are required. By setting modular processing components to adapt to different repair processes, repeated installation of equipment is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and examples.

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of embodiment 1 of the present invention.

[0018] Figure 2 This is a first-perspective stereoscopic view of the magnetic base in Example 1 of the present invention.

[0019] Figure 3 This is a stereoscopic view from a second perspective of the magnetic base in the first embodiment of the present invention.

[0020] Figure 4 For the present invention Figure 1 Enlarged view of point A in the middle.

[0021] Figure 5 This is a control principle block diagram of embodiment 1 of the present invention.

[0022] Figure 6 This is a structural diagram of embodiment 2 of the present invention.

[0023] Figure 7 This is a structural diagram of embodiment 3 of the present invention.

[0024] In the figure: magnetic base 1, base 11, lug 12, mounting position 13, handle 14, rotary locking part 15, magnet 16, robot component 2, docking end 3, connecting end 4, cylinder 5, driving part 6, grinding disc 7, welding gun component 8, laser rust removal component 9. DETAILED DESCRIPTION

[0025] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0027] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to related embodiments. Several embodiments of the present invention are provided. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0028] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0030] See also Figure 1-7 , the present invention provides a technical solution: Example 1, please refer to Figure 1 、 2 , 3, 4 and 5, a device for repairing the inner wall of a runner of a river basin power station, including a repair component, the repair component including a magnetic base 1 that can be magnetically connected to or detached from the inner wall of the runner, a robot component 2 is installed in the middle of the magnetic base 1, the output end of the robot component 2 is docked with a processing component, a visual component is provided on the output end of the robot component 2 or the processing component, the visual component is used to perform real-time image acquisition of the inner wall of the runner during the process of the robot component 2 driving the processing component to move, the visual component is electrically connected to the robot control cabinet, and the robot control cabinet is electrically connected to the robot component 2; the robot control cabinet is configured to receive and process the image signal acquired by the visual component, and control the robot component 2 to perform corresponding actions according to the processing results, so as to drive the processing component to repair the inner wall of the runner.

[0031] In an embodiment of the present invention, the magnetic positioning system adopts a mechanical linkage design of a rotating locking member, which can achieve strong magnetic attraction and rapid detachment without the need for electricity. It adapts to the thickness differences of curved surfaces and replaces the original high-cost guide rail structure. It achieves rapid attachment and detachment between the base and the inner wall of the rotor, solves the installation problem caused by the limited size of the rotor entrance, and reduces the cost required for repair. During the repair process, visual guidance is used, and the camera identifies defects such as cavitation pits and cracks, generates a three-dimensional coordinate path, and the cylinder dynamically adjusts the grinding disk pressure, and the pressure sensor provides real-time feedback to ensure the repair effect.

[0032] The magnetic base 1 includes a base 11, and a mounting position 13 for installing the robot component 2 is provided in the middle of the base 11. A number of lugs 12 are provided on the outside of the base 11, and magnetic parts are provided on the lugs 12. The magnetic parts are configured to selectively form a magnetic connection or disconnection with the inner wall of the rotating wheel. A group of handles 14 are provided in the middle of the base 11. The number of lugs 12 is 2N, and N ≥ 3. The number of magnetic parts is 3X, and X is 1 or 2. The magnetic parts are arranged in an evenly spaced circular array.

[0033] The device is adsorbed on the inner wall of the wheel through the handle 14, and the locking piece 15 is rotated to the "locked" position. The entire base 11 can be moved quickly. The overall weight of the base is 15 kg, which is easy to move. It is easy to install and has low production cost.

[0034] The magnetic attraction component includes a magnet 16 fixed to the end of the lug 12 and a rotary locking component 15 rotatably arranged above the magnet 16; the rotary locking component 15 is configured to drive the magnet 16 to move relative to the end of the lug 12 through mechanical linkage during rotation, so as to increase or decrease the effective magnetic attraction force between the magnet 16 and the inner wall of the wheel, thereby achieving magnetic locking or disengagement.

[0035] The processing component includes a connecting end 4, which is used to cooperate and dock with the output end of the robot component 2; the connecting end 4 is connected to a force compensation module; the force compensation module is electrically connected to a force compensation control system; one end of the force compensation module is connected to a driving member 6, and the output end of the driving member 6 is connected to a grinding disc 7. The force compensation module includes a cylinder 5 and a pressure sensor; the cylinder body of the cylinder 5 is fixed on the connecting end 4 or the force compensation module frame, and the piston rod of the cylinder 5 is connected to the driving member 6 through a pressure sensor; the pressure sensor is electrically connected to the force compensation control system, and is used to detect the contact pressure between the grinding disc 7 and the inner wall of the wheel.

[0036] The force and position compensation module is connected to the force and position compensation control system through wires. The force and position compensation control system and the robot control cabinet are powered by a 24V DC power supply. The force and position compensation control system receives the signal from the pressure sensor and transmits it to the robot control cabinet.

[0037] The visual component includes an image acquisition unit, which is configured to capture images of the inner wall surface of the wheel; the robot control cabinet is configured to process the image signals captured by the image acquisition unit, identify defects or features of the inner wall of the wheel, and generate control instructions based on the identification results to control the robot component 2 and the processing component to perform corresponding repair operations.

[0038] Example 2, please refer to Figure 6 The processing component is a welding gun component 8 that cooperates with the output end of the robot component 2 and is used to weld and repair the defective area of the inner wall of the wheel.

[0039] The difference from Example 1 is that different processing components are used to perform welding repair on the defective area of the inner wall of the runner.

[0040] Example 3, please refer to Figure 7 The processing component is a laser rust removal component 9 that cooperates with the output end of the robot component 2 and is used to remove rust or coating on the inner wall surface of the wheel.

[0041] The difference from Example 1 is that different processing components are used to remove rust or coating on the inner wall surface of the runner.

[0042] A method for using a device for repairing the inner wall of a runner in a river basin power station, using the above-mentioned repair device, and the steps are as follows: S1. Install the robot assembly on the mounting position of the base; S2. Fix the installed repair device to the inner wall of the rotating wheel by means of magnets and lock it by rotating the locking piece; S3. Select processing components according to the repair work to be performed and perform repair operations on the inner wall of the runner; S4. After the current area is repaired, the rotary locking piece is rotated to release the magnetic attraction, and the robot assembly and the base are moved and re-fixed, and the repair operation is performed on the new installation area.

[0043] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A device for repairing the inner wall of a runner in a river basin power station, comprising a repair component, characterized in that: The repair component comprises a magnetic base (1) that can be magnetically connected to or detached from the inner wall of the rotating wheel. A robot component (2) is installed in the middle of the magnetic base (1). The output end of the robot component (2) is docked with a processing component. A visual component is provided on the output end of the robot component (2) or the processing component. The visual component is used to collect real-time images of the inner wall of the rotating wheel when the robot component (2) drives the processing component to move. The visual component is electrically connected to a robot control cabinet, and the robot control cabinet is electrically connected to the robot component (2). The robot control cabinet is configured to receive and process the image signal collected by the visual component, and control the robot component (2) to perform corresponding actions according to the processing result, so as to drive the processing component to perform a repair operation on the inner wall of the rotating wheel.

2. The device for repairing the inner wall of a runner of a river basin power station according to claim 1, characterized in that: The magnetic base (1) includes a base (11), a mounting position (13) for mounting the robot component (2) is provided in the middle of the base (11), a plurality of lugs (12) are provided on the outer side of the base (11), and magnetic parts are provided on the lugs (12), and the magnetic parts are configured to selectively form a magnetic connection or disconnection with the inner wall of the rotating wheel, and a group of handles (14) are provided in the middle of the base (11).

3. The device for repairing the inner wall of a runner of a river basin power station according to claim 2, characterized in that: The number of lugs (12) is 2N, and N≥3; the number of magnetic elements is 3X, and X is 1 or 2; the magnetic elements are arranged in an equidistant circular array.

4. The device for repairing the inner wall of a runner of a river basin power station according to claim 3, characterized in that: The magnetic attraction member comprises a magnet (16) fixed to the end of the lug (12) and a rotary locking member (15) rotatably arranged above the magnet (16); the rotary locking member (15) is configured to drive the magnet (16) to move relative to the end of the lug (12) through mechanical linkage when rotating, so as to increase or decrease the effective magnetic attraction force between the magnet (16) and the inner wall of the rotating wheel, thereby achieving magnetic locking or disengagement.

5. The device for repairing the inner wall of a runner of a river basin power station according to claim 4, characterized in that: The processing component includes a connecting end (4), and the connecting end (4) is used to cooperate with the output end of the robot component (2); the connecting end (4) is connected to a force compensation module; the force compensation module is electrically connected to a force compensation control system; one end of the force compensation module is connected to a driving member (6), and the output end of the driving member (6) is connected to a grinding disc (7).

6. The device for repairing the inner wall of a runner of a river basin power station according to claim 5, characterized in that: The force compensation module includes a cylinder (5) and a pressure sensor; the cylinder body of the cylinder (5) is fixed to the connection end (4) or the force compensation module frame, and the piston rod of the cylinder (5) is connected to the driving member (6) through the pressure sensor; the pressure sensor is electrically connected to the force compensation control system and is used to detect the contact pressure between the grinding disc (7) and the inner wall of the wheel.

7. The device for repairing the inner wall of a runner of a river basin power station according to claim 5, characterized in that: The visual component includes an image acquisition unit, which is configured to acquire images of the inner wall surface of the rotating wheel; the robot control cabinet is configured to process the image signals acquired by the image acquisition unit, identify defects or features of the inner wall of the rotating wheel, and generate control instructions based on the identification results to control the robot component (2) and the processing component to perform corresponding repair operations.

8. The device for repairing the inner wall of a runner of a river basin power station according to claim 4, characterized in that: The processing component is a welding gun component (8) that cooperates with the output end of the robot component (2) and is used to perform welding repair on the defective area of the inner wall of the wheel.

9. The device for repairing the inner wall of a runner of a river basin power station according to claim 4, characterized in that: The processing component is a laser rust removal component (9) that cooperates with the output end of the robot component (2) and is used to remove rust or coating on the inner wall surface of the rotating wheel.

10. A method for using a device for repairing the inner wall of a runner in a river basin power station, using the repair device according to any one of claims 1 to 7, characterized in that: Here are the steps: S1. Install the robot assembly on the mounting position of the base; S2. Fix the installed repair device to the inner wall of the rotating wheel by means of magnets and lock it by rotating the locking piece; S3. Select grinding, rust removal or welding processing components according to the repair work to be performed, and perform repair operations on the inner wall of the runner; S4. After the current area is repaired, the rotary locking piece is rotated to release the magnetic attraction, and the robot assembly and the base are moved and re-fixed, and the repair operation is performed on the new installation area.

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